Information processing device, information processing method, and computer program product

ABSTRACT

According to an embodiment, an information processing device includes a memory and one or more hardware processors electrically coupled to the memory and configured to function as a change unit, and a display controller. The change unit is configured to change a reference path to a position at a lateral distance when the lateral distance obtained from lateral environmental information indicating a lateral environment of the reference path referred to as a scheduled running path of a moving body is larger than a distance from a lateral end to a center of a running region of the moving body. The display controller is configured to display display information including the reference path on a display unit.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is based upon and claims the benefit of priority fromJapanese Patent Application No. 2018-053090, filed on Mar. 20, 2018; theentire contents of which are incorporated herein by reference.

FIELD

Embodiments described herein relate generally to an informationprocessing device, an information processing method, and a computerprogram product.

BACKGROUND

Automatic driving techniques automatically steering vehicles attractattention. Techniques have been known that safely avoid moving objectssuch as pedestrians in automatic driving.

It is, however, difficult for the conventional techniques to determinesafer running paths. For example, it is difficult to determine a saferrunning path when a determination target (e.g., a pedestrian) fordetermining whether the target enters a running region of a moving bodydoes not perform a behavior associated with entering the running region.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a diagram illustrating an example of a reference path in afirst embodiment;

FIG. 2 is a schematic diagram illustrating an exemplary structure of amoving body in the first embodiment;

FIG. 3 is a detailed diagram illustrating exemplary structures of themoving body and an information processing device in the firstembodiment;

FIG. 4 is a diagram illustrating an example of a determination target inthe first embodiment;

FIG. 5 is a flowchart illustrating an example of the whole flow of aninformation processing method in the first embodiment;

FIG. 6 is a diagram for explaining exemplary variables used in theinformation processing in the first embodiment;

FIG. 7 is a flowchart illustrating an exemplary detailed flow at stepsS1 and S2;

FIG. 8 is a flowchart illustrating an exemplary detailed flow at stepS13;

FIG. 9A is a diagram for explaining the height of a separating zone;

FIG. 9B is another diagram for explaining the height of anotherseparating zone;

FIG. 10A is a diagram for explaining the thickness of the separatingzone;

FIG. 10B is another diagram for explaining the thickness of the otherseparating zone;

FIG. 11A is a diagram for explaining an arrangement interval of aseparating zone;

FIG. 11B is another diagram for explaining the arrangement interval ofanother separating zone;

FIG. 12 is a diagram for explaining exemplary variables used in theinformation processing in the first embodiment;

FIG. 13 is a diagram illustrating an exemplary high resolution map;

FIG. 14 is a graph illustrating an example of a function flm in thefirst embodiment;

FIG. 15 is a diagram for explaining exemplary variables used in theinformation processing in the first embodiment;

FIG. 16 is a graph illustrating an example of a function nw_(j) in thefirst embodiment;

FIG. 17 is a graph illustrating an example of a function in the firstembodiment;

FIG. 18 is a flowchart illustrating an exemplary detailed flow at stepS14;

FIG. 19 is a table illustrating an exemplary list of constants η_(o) inthe first embodiment;

FIG. 20 is a diagram illustrating an example of a range φL of left sideenvironmental information and a left side peripheral region χ_(L) in thefirst embodiment;

FIG. 21 is a flowchart illustrating an exemplary detailed flow at stepS3;

FIG. 22 is a diagram illustrating an example where a left side distanceγ_(L) and a right side distance γ_(R) overlap with each other;

FIG. 23 is a diagram illustrating an example where γ_(L) is larger thanγ*:

FIG. 24 is a diagram illustrating an example where γ_(R) is smaller thanγ*;

FIG. 25 is a diagram illustrating an example where the left sidedistance γ_(L) and the right side distance γ_(R) do not exceed thecenter of a running region;

FIG. 26 is a diagram illustrating exemplary fluctuation of a distance γin the first embodiment;

FIG. 27A is a diagram illustrating a first example where the distance γin the first embodiment is subjected to discretization;

FIG. 27B is a diagram illustrating a second example where the distance γin the first embodiment is subjected to the discretization;

FIG. 28A is a diagram illustrating a first example of displayinformation displayed in a three-dimensional (3D) manner in the firstembodiment;

FIG. 28B is a diagram illustrating a second example of the displayinformation displayed in a 3D manner in the first embodiment;

FIG. 28C is a diagram illustrating a third example of the displayinformation displayed in a 3D manner in the first embodiment;

FIG. 29 is a diagram illustrating an example of the display informationdisplayed as a top view display in the first embodiment;

FIG. 30 is a table listing examples of the left side distance γ_(L) in asecond embodiment; and

FIG. 31 is a detailed diagram illustrating exemplary structures of themoving body and the information processing device in a third embodiment.

DETAILED DESCRIPTION

According to an embodiment, an information processing device includes amemory and one or more hardware processors electrically coupled to thememory and configured to function as a change unit, and a displaycontroller. The change unit is configured to change a reference path toa position at a lateral distance when the lateral distance obtained fromlateral environmental information indicating a lateral environment ofthe reference path referred to as a scheduled running path of a movingbody is larger than a distance from a lateral end to a center of arunning region of the moving body. The display controller is configuredto display display information including the reference path on a displayunit.

The following describes embodiments of an information processing device,an information processing method, and a computer program product indetail with reference to the accompanying drawings.

First Embodiment

An information processing device in a first embodiment calculates areference path (RP). The following describes an example of the referencepath.

FIG. 1 is a diagram illustrating an example of a reference path 100 inthe first embodiment. The example illustrated in FIG. 1 illustrates thereference path 100 of a moving body 10.

Any type of moving body is applicable for the moving body 10. The movingbody 10 in the first embodiment is a vehicle such as a car, for example.The moving body 10 in the first embodiment has an automatic drivingfunction that automatically steers the moving body 10.

The reference path 100 is referred to as a scheduled running path of themoving body 10. The reference path 100 includes path informationindicating at least a path along which the moving body 10 is scheduledto run. In the first embodiment, the reference path 100 includes thepath information and speed information. The reference path 100 in thefirst embodiment includes, as the path information, a path that is alongthe center of a running region (carriage way) and along which the movingbody 10 runs, and a legal speed as the speed information, for example.

An initial value of the reference path 100 in the first embodiment is apath along which the moving body 10 runs the center of the runningregion at a legal speed. Any method may be employed for determining theinitial value (default) of the reference path 100. The initial value ofthe reference path 100 may be determined from information included in ahigh resolution map, which is described later with reference to FIG. 13,for example.

The initial value of the reference path 100 may be determined frominformation such as white lines (lane lines) on the road recognized by acar-mounted camera of the moving body 10, for example. The initial valueof the reference path 100 may be determined from the center line thatindicates the center of the running region interposed between the twowhite lines on both sides of the running region, for example.

In FIG. 1, γ* is information that indicates the initial value of thereference path 100. In the example illustrated in FIG. 1, γ*, whichindicates the initial value of the reference path 100, is the distancefrom the left end of the running region to the reference path 100. Inthe first embodiment, γ* is the distance from the left end to the centerof the running region.

Exemplary Structure of Moving Body

FIG. 2 is a schematic diagram illustrating an exemplary structure of themoving body 10 in the first embodiment. The moving body 10 in the firstembodiment includes an output device 10A, a sensor 10B, an input device100, a power controller 10G, a power unit 10H, and an informationprocessing device 20.

The output device 10A outputs information. The output device 10Aincludes a communication unit 12, a display unit 13, and a speaker 14,which are described later with reference to FIG. 3, for example.

The sensor 10B acquires environmental information indicating a runningenvironment of the moving body 10. The environmental informationincludes observational information acquired by internal sensors of themoving body 10 and peripheral information acquired by external sensorsof the moving body 10, for example. The observational information is aspeed of the moving body 10 acquired by a speed sensor, for example. Theperipheral information is an image acquired by the car-mounted camera,for example.

The input device 10C receives information input by a user. For example,the input device 100 receives information indicating an instruction froma passenger on the moving body 10. For another example, the input device100 receives setting information or the like indicating settings for theinformation processing device 20 from the passenger on the moving body10 and a developer of the information processing device 20. The settinginformation includes a relational expression representing a relationbetween the height of a separating zone and a risk of pedestriansstepping into the road, for example.

The power controller 10G produces control signals for controlling anaccelerator and a steering angle, for example, and controls the powerunit 10H by the control signals.

The power unit 10H is a device that drives the moving body 10. The powerunit 10H is an engine, a motor, or wheels, for example.

The information processing device 20 processes information. Theinformation processing device 20 processes information input from otherfunctional blocks, for example. An exemplary structure of theinformation processing device 20 is described with reference to FIG. 3.

FIG. 3 is a detailed diagram illustrating exemplary structures of themoving body 10 and the information processing device 20 in the firstembodiment. The information processing device 20 in the first embodimentincludes a memory 11 and a processor 20A. The processor 20A implementsan acquisition unit 21, a right side distance determination unit 22, aleft side distance determination unit 23, a change unit 24, a selectionunit 25, a generation unit 26, a calculation unit 27, and displaycontroller 28. The memory 11, the communication unit 12, the displayunit 13, the speaker 14, the sensor 10B, the input device 100, the powercontroller 10G, and the power unit 10H are coupled to one another via abus. The power controller 10G and the power unit 10H are also coupledwith a dedicated communication path interposed therebetween.

The memory 11 stores therein information. Information stored in thememory 11 is a relational expression representing a relation between theheight of the separating zone and a risk of pedestrians stepping intothe road, for example.

The communication unit 12 communicates with other devices. Thecommunication with the other devices is performed to acquire roadinformation, for example. The road information is included in a dynamicmap and a high resolution map that are available in a cloud system, forexample. The high resolution map is described later with reference toFIG. 13.

The display unit 13 displays information. The display unit 13 displaysinformation indicating conditions of automatic driving of the movingbody 10, for example. The display unit 13 is a liquid crystal display,for example.

The speaker 14 outputs sound. The speaker 14 outputs a voice indicatingthe conditions of the automatic driving of the moving body 10, forexample.

The explanations of the sensor 10B, the input device 10C, the powercontroller 10G, and the power unit 10H are the same as those describedwith reference to FIG. 2. The descriptions thereof, thus, are omitted.

The acquisition unit 21 acquires the initial value of the reference path100.

The right side distance determination unit 22 determines a right sidedistance that indicates a distance from the right end of the runningregion of the moving body 10 from right side environmental informationindicating an environment on the right side of the reference path 100referred to as a scheduled running path of the moving body 10. The rightside distance indicates a distance for avoiding danger caused by theenvironment on the right side of the reference path 100. An example ofthe right side distance is described later with reference to FIG. 6.

The right side environmental information includes an object and a signthat influence a determination target (e.g., a pedestrian) for a risk ofentering the running region of the moving body 10, for example.

Examples of the object that influences the determination target includethe separating zone, a road facility, and a car parked on a street.Examples of the separating zone includes a guardrail separating asidewalk from a carriage way, a curb, a planting strip, and a whiteline. Examples of the road facility include a pedestrian bridge and atraffic light.

Examples of the sign influencing the determination target include a roadsurface marking such as a pedestrian crosswalk.

The following describes examples when the objects and signs influencethe determination target for a risk of entering the running region ofthe moving body 10. As for the pedestrian bridge, when a pedestrianfeels that it is cumbersome to climb steps of the pedestrian bridge, thepedestrian may cross the road diagonally before the pedestrian bridge,for example. As for the traffic light, the pedestrian may cross the roaddiagonally before the traffic light when the pedestrian does not bear towait for the light to change. As for the pedestrian crosswalk, which ismarked near a place where many pedestrians cross the road, thepedestrian may cross the road diagonally before the pedestrian crosswalkwhen the pedestrian feels it is cumbersome to walk to the pedestriancrosswalk on the sidewalk so as to cross the road, for example. The carparked on a street used for a sidewalk blocks the sidewalk. As a result,the pedestrian may enter the carriage way to avoid the car.

The left side distance determination unit 23 determines a left sidedistance that indicates a distance from the left end of the runningregion of the moving body 10 from left side environmental informationindicating an environment on the left side of the reference path 100.The explanation of the left side environmental information is the sameas that of the right side environmental information. The descriptionthereof is, thus, omitted. An example of the left side distance isdescribed later with reference to FIG. 6.

In the example described above, both of the right side distancedetermination unit 22 and the left side distance determination unit 23are used for distance determination. A lateral distance, which is anyone of the right side distance and the left side distance, may beemployed.

The change unit 24 changes the reference path 100 on the basis of theright side distance and the left side distance. Details of the methodfor changing the reference path 100 are described later with referenceto the flowchart in FIG. 21.

In this example, the reference path 100 is changed on the basis of theright side distance and the left side distance. The reference path 100may, however, be changed on the basis of one lateral distance, which isany one of the right side distance and the left side distance.

The reference path 100 may be changed on the basis of one lateralenvironmental information, which is any one of the right sideenvironmental information and the left side environmental information.

The selection unit 25 determines a distance γ indicating the position ofthe reference path 100 changed by the change unit 24 using a thresholdand selects the reference path 100 after the change from a plurality ofreference paths 100 preliminarily set.

The generation unit 26 produces a path according to the reference path100 selected by the selection unit 25. The path includes a trajectoryand a speed of the moving body 10 running on the trajectory. When anobstacle is present near the reference path 100, the generation unit 26produces a path that avoids the obstacle.

The calculation unit 27 calculates acceleration (deceleration) for theaccelerator and a steering angle so as to cause the moving body 10 torun on the path produced by the generation unit 26.

The display controller 28 displays display information including thereference path 100 on the display unit 13. Examples of the displayinformation are described later with reference to FIGS. 28A, 28B, and29.

The following describes an example of the determination target for arisk of entering the running region of the moving body 10 in the firstembodiment.

FIG. 4 is a diagram illustrating an example of a determination target101 in the first embodiment. In the example illustrated in FIG. 4, thedetermination target 101 is a pedestrian. A separating zone 102 is anobject that separates the sidewalk from the running region (carriageway). In the following description, the separating zone 102 is aplanting strip unless otherwise the type of the separating zone 102 isspecified.

A pedestrian crosswalk 103 is provided ahead the reference path 100 ofthe moving body 10. The determination target 101 is present on thesidewalk side of the separating zone 102 while the moving body 10 ispresent on the carriage way side of the separating zone 102. A producedpath length ζ indicates the length of the reference path 100 of themoving body 10. A range of the environmental information acquired forproducing the reference path 100 is φ_(j){j|R,L}. φ_(R) (when j=R)indicates a range of the right side environmental information acquiredfrom the right side of the reference path 100 of the moving body 10.φ_(L) (when j=L) indicates a range of the left side environmentalinformation acquired from the left side of the reference path 100 of themoving body 10. γ* indicates the distance from the left end of therunning region to the initially set position of the reference path 100.

The following describes the information processing method in the firstembodiment.

Example of Information Processing Method

FIG. 5 is a flowchart illustrating an example of the whole flow of theinformation processing method in the first embodiment. The left sidedistance determination unit 23 determines the left side distance γ_(L)(step S1). Subsequently, the right side distance determination unit 22determines the right side distance γ_(R) (step S2). The details of theprocessing at steps S1 and S2 are described later with reference to theflowchart in FIG. 7.

The change unit 24 and the selection unit 25 determine the distance γindicating the position of the reference path 100 after the change fromthe left side distance γ_(L) determined by the processing at step S1 andthe right side distance γ_(R) determined by the processing at step S2(step S3). The details of the processing at step S3 is described laterwith reference to FIG. 21.

In the flowchart illustrated in FIG. 5, the distance γ indicating theposition of the reference path 100 after the change is determined fromthe left side distance γL and the right side distance γ_(R). Thedistance γ indicating the position of the reference path 100 after thechange may be determined by only the left side distance γ_(L) or theright side distance γ_(R). Such a determination of the distance γ may bemade when the running region (carriage way) is wide and the distancefrom the left side or the right side of the running region issufficiently large.

FIG. 6 is a diagram for explaining exemplary variables used in theinformation processing in the first embodiment. rw is a value indicatingthe width of the running region (carriage way) of the moving body 10. Inthe example illustrated in FIG. 6, the left side distance γ_(L)indicates the distance from the left end of the running region of themoving body 10. The right side distance γ_(R) indicates the distancefrom the right end of the running region of the moving body 10. γ′_(R)is a distance of the right side distance γ_(R) indicating the distancefrom the left end of the running region of the moving body 10. γ*indicates the distance from the left end of the running region of themoving body 10 to the initially set position of the reference path 100.

FIG. 7 is a flowchart illustrating an exemplary detailed flow at stepsS1 and S2. j in FIG. 7 is L or R. When j is L, the flow is the methodfor determining the left side distance γ_(L) (the detailed flow at stepS1). When j is R, the flow is the method for determining the right sidedistance γ_(R) (the detailed flow at step S2). The following descriptionwith reference to FIG. 7 is an example where j is L for simpleexplanation. The processing when j is R is similar to that when j is L.

The left side distance determination unit 23 determines whether thedetermination target 101 is present in the range φ_(L) (refer to FIG. 4)of the left side environmental information (step S11). If thedetermination target 101 is not present (No at step S11), the left sidedistance γ_(L) is set to zero (step S12), and then the processing ends.

If the determination target 101 is present (Yes at step S11), the leftside distance determination unit 23 calculates a distance α_(L) thatindicates a moving distance for avoiding danger caused by the separatingzone 102 (step S13). The distance α_(L) is represented by the distancefrom the left end of the running region of the moving body 10. Thedetails of the processing at step S13 are described later with referenceto the flowchart in FIG. 8.

The left side distance determination unit 23 calculates a distance β_(j)that indicates a moving distance for avoiding danger caused by theobject (e.g., the road facility or the car parked on a street) or thesign (e.g., the road marking) that triggers the determination target 101to enter the running region (step S14). The distance β_(L) isrepresented by the distance from the left end of the running region ofthe moving body 10. The details of the processing at step S14 isdescribed later with reference to the flowchart in FIG. 18.

The left side distance determination unit 23 determines larger onebetween the distance α_(L) calculated by the processing at step S13 andthe distance βL calculated by the processing at step S14 to be the leftside distance γ_(L) (step S15).

In the flowchart in FIG. 7, the distance γ_(L) is determined on thebasis of either larger one of the distance α_(i) and the distance β_(i).The distance γ_(i) may be determined by only the distance α_(i) or thedistance β_(i).

FIG. 8 is a flowchart illustrating an exemplary detailed flow at stepS13. j in FIG. 8 is L or R. The following description with reference toFIG. 8 is an example where j is L for simple explanation. The processingwhen j is R is similar to that when j is L.

The left side distance determination unit 23 determines whether theseparating zone 102 is present between the moving body 10 and thedetermination target 101 (step S21).

The following describes examples of the separating zone 102. Theseparating zone 102 influences riskiness of the determination target 101such as a pedestrian entering the running region. For example, as theheight of the separating zone 102 is reduced, the riskiness of thedetermination target 101 entering the running region is increased.

FIGS. 9A and 9B are diagrams for explaining the height of the separatingzone. The separating zone 102 illustrated in FIG. 9A is a plantingstrip. A separating zone 102 a illustrated in FIG. 9B is a lane line.The height of the separating zone 102 a is lower than that of theseparating zone 102. As a result, the riskiness of the determinationtarget 101 entering the running region for the separating zone 102 a ishigher than that for the separating zone 102.

As the thickness of the separating zone 102 is reduced, the riskiness ofthe determination target 101 entering the running region is increased,for example.

FIGS. 10A and 10B are diagrams for explaining the thickness of theseparating zone 102. The separating zone 102 illustrated in FIG. 10A isthe planting strip. The separating zone 102 a illustrated in FIG. 10B isthe lane line. The thickness of the separating zone 102 a is thinnerthan that of the separating zone 102. As a result, the riskiness of thedetermination target 101 entering the running region for the separatingzone 102 a is higher than that for the separating zone 102.

As an arrangement interval of the separating zone 102 is increased, theriskiness of the determination target 101 entering the running region isincreased, for example.

FIGS. 11A and 11B are diagrams for explaining the arrangement intervalof the separating zone 102. A separating zone 102 b illustrated in FIG.11A is an example of the separating zone 102 having no passable space. Aseparating zone 102 c illustrated in FIG. 11B is an example of theseparating zone 102 having a passable space. The riskiness of thedetermination target 101 entering the running region for the separatingzone 102 c having a passable space is higher than that for theseparating zone 102 b having no passable space.

FIG. 12 is a diagram for explaining exemplary variables used in theinformation processing in the first embodiment. FIG. 12 illustratesexemplary variables when the separating zone 102 b and 102 c are eachinstalled in the produced path length ζ.

i is a number that identifies each object included in the separatingzone 102. The separating zone 102 b, which has no passable space, isidentified by setting the number of i to zero. In the separating zone102 c having a passable space, the individual objects (poles of theseparating zone 102 c) included in the separating zone 102 c areidentified by the numbers of 0, 1, . . . , and n (n is a naturalnumber). l₀ represents the width of the zeroth separating zone 102 b(102 c). h₀ represents the height of the zeroth separating zone 102 b(102 c).

The information about the separating zone 102 as illustrated in FIG. 12can be acquired from the high resolution map, for example.

FIG. 13 is a diagram illustrating an exemplary high resolution map. Theexample illustrated in FIG. 13 includes the information indicating theseparating zone 102 c and a separating zone 102 d. The separating zone102 c is composed of a plurality of poles. The separating zone 102 d isthe curb separating the running region from the sidewalk.

Referring back to FIG. 8, if the separating zone 102 is not present (Noat step S21), the left side distance determination unit 23 sets theheight h_(i) of the separating zone 102 to zero (refer to FIG. 12) andsets the thickness w_(i) of the separating zone 102 to zero (refer toFIG. 15) (step S22). The processing then proceeds to step S23.

If the separating zone 102 is present (Yes at step S21), the left sidedistance determination unit 23 calculates an entering ease η_(hL) causedby the height of the separating zone 102 (step S23). As illustrated inFIG. 12, the arrangement interval of the separating zone 102 hasvariations. When the separating zone 102 c is installed, thedetermination target 101 can enter the running region from the passablespace of the separating zone 102 c. For calculating η_(hj), an averageheight h _(j) of the separating zone 102 is used. In the calculation bythe left side distance determination unit 23, j is L while in thecalculation by the right side distance determination unit 22, h _(j) isR.

The average height k is defined by expression (1). Variables used inexpression (1) are defined by expressions (2) and (3).

$\begin{matrix}{{\overset{\_}{h}}_{j} = \frac{s_{hj}}{\zeta_{j}}} & (1) \\{s_{hj} = {\sum\limits_{i = 0}^{n}\; s_{hji}}} & (2) \\{s_{hji} = {h_{i} \times l_{i}}} & (3)\end{matrix}$

As described above, h_(i) and l_(i) can be acquired from the highresolution map (refer to FIG. 13). When the high resolution map is notavailable, the left side distance determination unit 23 estimates theshape (h_(i) and l_(i)) of the separating zone 102 from sensor dataobtained near the road shoulder, for example. When the separating zone102 is the road marking such as the lane line, the left side distancedetermination unit 23 sets h_(i) to zero.

The entering ease η_(hj) caused by the height of the separating zone 102is obtained from h _(j) by expression (4). In the calculation by theleft side distance determination unit 23, j is L while in thecalculation by the right side distance determination unit 22, j is R.

$\begin{matrix}{\eta_{hj} = \frac{1}{1 + e^{- {ɛ_{h}{({{\overset{\_}{h}}_{j} + \lambda_{h}})}}}}} & (4)\end{matrix}$

ε_(h) and λ_(h) that are included in expression (4) are ε_(h)=−18 andλ_(h)=−0.3, respectively, for example.

FIG. 14 is a graph illustrating an example of a function η_(hj) in thefirst embodiment. On the basis of the function η_(hj) having the shapeillustrated in FIG. 14, the entering ease η_(hj) caused by the height ofthe separating zone 102 is calculated using the average height h _(j).

The left side distance determination unit 23 calculates an entering easeη_(wL) caused by the thickness of the separating zone 102 (step S24).

FIG. 15 is a diagram for explaining exemplary variables used in theinformation processing in the first embodiment. i is a number thatidentifies each object included in the separating zone 102. When theseparating zone 102 having no passable space is installed, theseparating zone 102 is identified by setting the number of i to zero.When a separating zone 102 e having a passable space is installed, theindividual objects (individual planting strips of the separating zone102 e) included in the separating zone 102 e are identified by thenumbers of 0, 1, . . . , and n (n is a natural number). l₀ representsthe width of the zeroth separating zone 102 (102 e). w₀ represents thethickness of the zeroth separating zone 102 (102 e).

The information about the separating zone 102 as illustrated in FIG. 15can be acquired from the high resolution map (refer to FIG. 13), forexample.

Referring back to FIG. 8, at step S24, in the same reason as that atstep S23, an average thickness w _(j) of the separating zone 102 is usedfor calculating the entering ease η_(wd). In the calculation by the leftside distance determination unit 23, j is L while in the calculation bythe right side distance determination unit 22, j is R.

The average thickness w _(j) is defined by expression (5). Variablesused in expression (5) are defined by expressions (6) and (7).

$\begin{matrix}{{\overset{\_}{w}}_{j} = \frac{s_{wj}}{\zeta}} & (5) \\{s_{wj} = {\sum\limits_{i = 0}^{n}\; s_{wij}}} & (6) \\{s_{wij} = {w_{i} \times l_{i}}} & (7)\end{matrix}$

As described above, w_(i) and l_(i) can be acquired from the highresolution map (refer to FIG. 13). The left side distance determinationunit 23 estimates the shape (w_(i) and l_(i)) of the separating zone 102from sensor data obtained near the road shoulder, for example.

The entering ease η_(wd) caused by the thickness of the separating zone102 is obtained from w _(j) by expression (8). In the calculation by theleft side distance determination unit 23, j is L while in thecalculation by the right side distance determination unit 22, j is R.

$\begin{matrix}{\eta_{wj} = \frac{1}{1 + e^{- {ɛ_{w}{({{\overset{\_}{w}}_{j} + \lambda_{w}})}}}}} & (8)\end{matrix}$

ε_(w) and λ_(w) that are included in expression (8) are ε=−18 andλ_(w)=−0.4, respectively, for example.

FIG. 16 is a graph illustrating an example of a function in the firstembodiment. On the basis of the function η_(wj) having the shapeillustrated in FIG. 16, the entering ease η_(wj) caused by the thicknessof the separating zone 102 is calculated using the average thickness w_(j).

Referring back to FIG. 8, the left side distance determination unit 23calculates a running region entering ease η_(L) (step S25).Specifically, the running region entering ease η_(L) is calculated byexpression (9) where j is L. The running region entering ease η_(L) isan average of η_(hj) and η_(wj).

$\begin{matrix}{\eta_{j} = \frac{\eta_{hj} + \eta_{wj}}{2}} & (9)\end{matrix}$

The left side distance determination unit 23 calculates an influencerate ξ when the moving body 10 collides against the determination target101 (step S26). Damage of the determination target 101 when the movingbody 10 collides against the determination target 101 such as apedestrian is increased as the speed of the moving body 10 is increased.The moving body 10, thus, needs to run further apart from thedetermination target 101 as the speed of the moving body 10 isincreased. The influence rate ξ in the collision is defined byexpression (10).

$\begin{matrix}{\xi = \frac{1}{1 + e^{- {ɛ_{v}{({v + \lambda_{v}})}}}}} & (10)\end{matrix}$

ε_(v) and λ_(v) that are included in expression (10) are ε=0.4 andλ_(v)=−15, respectively, for example.

FIG. 17 is a graph illustrating an example of a function ξ in the firstembodiment. On the basis of the function ξ having the shape illustratedin FIG. 17, the influence rate ξ in the collision is calculated using aspeed v of the moving body.

Referring back to FIG. 8, the left side distance determination unit 23calculates the distance α_(L) that indicates a moving distance foravoiding danger caused by the separating zone 102 (step S27).Specifically, the distance α_(L) is calculated by expression (11) wherej is L. The left side distance determination unit 23 calculates thedistance α_(L) on the basis of a product of the running region enteringease η_(L) and the influence rate ξ in the collision.

α_(j)=ω_(αj)(η_(j)×ξ)  (11)

-   -   where ω_(αj) is a conversion coefficient for converting a unit        of the distance into meter (m).

FIG. 18 is a flowchart illustrating an exemplary detailed flow at stepS14. j in FIG. 18 is L or R. The following description with reference toFIG. 18 is an example where j is L for simple explanation. Theprocessing when j is R is similar to that when j is L.

The left side distance determination unit 23 determines whether anobject or a sign that triggers entering the running region is present inthe range φ_(L) of the left side environmental information (step S31).Specifically, the left side distance determination unit 23 determineswhether an object or a sign that triggers entering the running region ispresent in the range φ_(L) of the left side environmental informationfrom information acquired from the high resolution map (refer to FIG.13) and the sensor 10B, for example.

If an object or a sign that triggers entering the running region is notpresent (No at step S31), the left side distance determination unit 23sets the distance β_(L) indicating a moving distance for avoiding dangercaused by the object or the sign that triggers entering the runningregion to zero (step S32).

If an object or a sign that triggers entering the running region ispresent (Yes at step S31), the left side distance determination unit 23determines whether the determination target 101 is present in a leftside peripheral region χ_(L) of the object or the sign (step S33).

If the determination target 101 is not present in the left sideperipheral region χ_(L) (No at step S33), the processing proceeds tostep S32 in the same manner as the negative determination at step S31.

If the determination target 101 is present in the left side peripheralregion χ_(L) (Yes at step S33), the left side distance determinationunit 23 calculates an entering ease lot caused by the object or the signthat triggers entering the running region (step S34). The left sidedistance determination unit 23 calculates the entering ease η_(oL)caused by the object or the sign with reference to a list of constantsη_(o) specified for each of the objects and the signs that triggerentering the running region, for example.

FIG. 19 is a table illustrating an exemplary list of the constants η_(o)in the first embodiment. In the exemplary list illustrated in FIG. 19,the constant η_(o), which indicates the ease of the determination target101 entering the running region, is 0.2 when the object or the sign isthe pedestrian crosswalk 103. When the object or the sign is a carparked on the sidewalk, the constant η_(o), which indicates the ease ofthe determination target 101 entering the running region, is 0.4. Anymethod may be used for determining the constant η_(o). For example, theconstant η_(o) may be determined by the developer. For another example,the constant η_(o) may be determined on the basis of a learning resulton an image of the determination target 101 such as a pedestrianstepping into the running region.

When the value of the constant η_(o) is changed in a case where thedetermination target 101 is present in the left side peripheral regionχ_(L) or in a case where the determination target 101 is present in aright side peripheral region χ_(R), η_(o) in FIG. 19 may be set toη_(oj). In this case, j is L or R. When j is L, η_(oL) indicates a valuein a case where the determination target 101 is present in the left sideperipheral region χ_(L). When j is R, η_(oR) indicates a value in a casewhere the determination target 101 is present in the right sideperipheral region χ_(R).

FIG. 20 is a diagram illustrating an example of the range φ_(L) of theleft side environmental information and the left side peripheral regionχL in the first embodiment. In the example illustrated in FIG. 20, thesign that triggers entering the running region is the pedestriancrosswalk 103. The determination target 101 present in the left sideperipheral region χ_(L) of the pedestrian crosswalk 103 can be detectedin the region (overlapping region) where the range φ_(L) of the leftside environmental information and the left side peripheral region χ_(L)overlap with each other.

Referring back to FIG. 18, the left side distance determination unit 23calculates the influence rate ξ when the moving body 10 collides againstthe determination target 101 (step S35). The explanation of theinfluence rate ξ is the same as that described with reference to FIG. 8.The description thereof is, thus, omitted.

The left side distance determination unit 23 calculates the distance βLindicating a moving distance for avoiding danger caused by the object orthe sign that triggers entering the running region (step S36).Specifically, the distance β_(L) is calculated by expression (12) wherej is L. The left side distance determination unit 23 calculates thedistance β_(L) on the basis of a product of the running region enteringease η_(oL) and the influence rate in the collision.

β_(j)=ω_(βj)(η_(oj)×ξ)  (12)

-   -   where ω_(βj) is a conversion coefficient for converting a unit        of the distance into meter (m).

FIG. 21 is a flowchart illustrating an exemplary detailed flow at stepS3. The change unit 24 calculates the distance γ′_(R) by subtracting theright side distance γ_(R) from the value rw indicating the width of therunning region (carriage way) of the moving body 10 (step S41).

The change unit 24 determines whether the left side distance γ_(L) andthe right side distance γ_(R) overlap with each other (step S42).Specifically, the change unit 24 determines whether γ_(L) is larger thanγ′_(R). FIG. 22 illustrates an example where the left side distanceγ_(L) and the right side distance γ_(R) overlap with each other.

Referring back to FIG. 21, if the left side distance γ_(L) and the rightside distance γ_(R) overlap with each other (Yes at step S42), thechange unit 24 changes the distance γ indicating the position of thereference path 100 to a median ((γ′_(R)+γ_(L))/2) (step S43).

When the distance γ is changed to the median, a distance between thedetermination target 101 such as a pedestrian present in the left or theright of the running region and the moving body 10 is shorter than anideal distance necessary for avoiding danger. The calculation unit 27,thus, calculates deceleration (deceleration amount) to decelerate thespeed of the moving body 10. The deceleration is acquired from a lookuptable in which the deceleration and a difference between the median andthe ideal distance are in associated with each other, for example. Asthe difference between the median and the ideal distance is increased,the deceleration is increased, for example.

If the left side distance γ_(L) and the right side distance γ_(R) do notoverlap with each other (No at step S42), the change unit 24 determineswhether the left side distance γ_(L) is larger than the distance fromthe left end to the center of the running region (step S44). In thefirst embodiment, γ* is the distance from the left end to the center ofthe running region. Specifically, the change unit 24, thus, determineswhether γ_(L) is larger than γ*. FIG. 23 illustrates an example whereγ_(L) is larger than γ*.

Referring back to FIG. 21, if the left side distance γ_(L) is largerthan the distance from the left end to the center of the running region(Yes at step S44), the change unit 24 changes the distance γ indicatingthe position of the reference path 100 to the left side distance γ_(L)(step S45).

If the left side distance γ_(L) is not larger than the distance from theleft end to the center of the running region (No at step S44), thechange unit 24 determines whether the right side distance γ_(R) islarger than the distance from the left end to the center of the runningregion (step S46). Specifically, the change unit 24, thus, determineswhether γ′_(R) is smaller than γ*. FIG. 24 illustrates an example whereγ′_(R) is smaller than γ*.

Referring back to FIG. 21, if the right side distance γ_(R) is largerthan the distance from the left end to the center of the running region(Yes at step S46), the change unit 24 changes the distance γ indicatingthe position of the reference path 100 to the distance γ′_(R)(corresponding to the position at the right side distance γ_(R)) (stepS47).

If the right side distance γ_(R) is not larger than the distance fromthe left end to the center of the running region (No at step S46), thechange unit 24 does not change the distance γ (=γ*) indicating theposition of the reference path 100 (step S48). When the left sidedistance γ_(L) and the right side distance γ_(R) do not exceed thecenter of the running region, the change unit 24 does not change theposition of the reference path 100. FIG. 25 illustrates an example wherethe left side distance γ_(L) and the right side distance γ_(R) do notexceed the center of the running region.

The selection unit 25 performs discretization on the distances γ as aresult of being continuously changed by the change unit 24 (step S49).Specifically, the selection unit 25 performs determination on thedistance γ that indicates the position of the reference path 100 and ischanged by the change unit 24 using a threshold to select the referencepath 100 after the change from a plurality of preliminarily setreference paths 100. The following describes a reason why the distance γis subjected to the discretization.

FIG. 26 is a diagram illustrating exemplary fluctuation of the distanceγ in the first embodiment. The change unit 24 calculates the distance γevery certain period so as to correspond to the movement of the movingbody 10. As a result of the calculation of the distance γ performed atevery certain period, as illustrated in FIG. 26, the value of thedistance γ (201) fluctuates. If the moving body 10 follows the distanceγ that continuously fluctuates, the moving body 10 runs in zigzagdirections. For preventing the zigzag running, the selection unit 25performs the discretization on the distance γ by allocating the distanceγ into one of set values.

FIG. 27A is a diagram illustrating a first example where the distance γis subjected to the discretization in the first embodiment. FIG. 27Aillustrates the example where distances γ₁, γ₂, and γ₃ are selected onthe basis of the distance γ (201). FIG. 27A illustrates the examplewhere a discretized distance γ (202 a) is obtained using a singlethreshold for the determination of each of the distances γ₁, γ₂, and γ₃.

FIG. 27B is a diagram illustrating a second example where the distance γis subjected to the discretization in the first embodiment. FIG. 27Billustrates the example where distances γ₁, γ₂, and γ₃ are selected onthe basis of the distance γ (201) in the same manner as FIG. 27A. FIG.27B illustrates the example where a discretized distance γ (202 b) isobtained using two thresholds (hysteresis threshold) for thedetermination of each of the distances γ₁, γ₂, and γ₃. The example ofthe discretization illustrated in FIG. 27B uses an idea of a Schmitttrigger circuit. The number of fluctuations in the discretized distanceγ in the second example illustrated in FIG. 27B is smaller than that inthe first example illustrated in FIG. 27A. The selection unit 25 in thefirst embodiment performs the discretization on the distance γ by themethod illustrated in FIG. 27B.

In the first embodiment, the selection unit 25 is included. The distanceγ obtained by the change unit 24 may be directly used without includingthe selection unit 25.

The following describes examples of the display information includingthe reference path 100. The reference path 100 selected by the selectionunit 25 is displayed on the display unit 13 by the display controller28.

Examples of Display Information

FIG. 28A is a diagram illustrating a first example of the displayinformation displayed in a three-dimensional (3D) manner in the firstembodiment. The first example of the display information illustrated inFIG. 28A is the display information displayed on the display unit 13 bythe display controller 28 when the determination target 101 such as apedestrian is not present. FIG. 28A illustrates a path 200 serving asthe reference path 100 of the moving body 10.

FIG. 28B is a diagram illustrating a second example of the displayinformation displayed in a 3D manner in the first embodiment. The secondexample of the display information illustrated in FIG. 28B is thedisplay information displayed on the display unit 13 by the displaycontroller 28 when the determination target 101 is present. In FIG. 28B,a pedestrian serving as the determination target 101 is present on thesidewalk side of the separating zone 102 a. FIG. 28B illustrates a casewhere the path 200 produced by the generation unit 26 is changed so asto avoid danger of contact between the moving body 10 and thedetermination target 101. On the upper side in the display information,a message that this car runs while being apart from the pedestrian isdisplayed. In addition, the pedestrian serving as the avoidance objectis highlighted.

FIG. 28C is a diagram illustrating a third example of the displayinformation displayed in a 3D manner in the first embodiment. The thirdexample of the display information illustrated in FIG. 28C is thedisplay information displayed on the display unit 13 by the displaycontroller 28 when the determination target 101 is present near thepedestrian crosswalk 103. FIG. 28C illustrates a case where thereference path 100 is changed so as to avoid danger of contact betweenthe moving body 10 and the determination target 101. On the upper sidein the display information, the message that this car runs while beingapart from the pedestrian is displayed.

FIG. 29 is a diagram illustrating an example of the display informationdisplayed as a top view display in the first embodiment. The exampleillustrated in FIG. 29 is exemplary display information displayed on thedisplay unit 13 by the display controller 28 when the determinationtarget 101 is present. In FIG. 29, a pedestrian serving as thedetermination target 101 is present on the sidewalk side of theseparating zone 102 a. FIG. 29 illustrates a case where the referencepath 100 is changed so as to avoid danger of contact between the movingbody 10 and the determination target 101. On the upper side in thedisplay information, the message that this car runs while being apartfrom the pedestrian is displayed.

As described above, in the information processing device 20 in the firstembodiment, the right side distance determination unit 22 determines theright side distance γ_(R) that indicates a distance from the right endof the running region of the moving body 10 from the right sideenvironmental information that indicates an environment on the rightside of the reference path 100 referred to as the scheduled running pathof the moving body 10. The left side distance determination unit 23determines the left side distance γ_(L) that indicates a distance fromthe left end of the running region of the moving body 10 from the leftside environmental information that indicates an environment on the leftside of the reference path 100. The change unit 24 changes the referencepath 100 to the position at the right side distance γ_(R) when the rightside distance γ_(R) is larger than the distance from the right end tothe center of the running region while the change unit 24 changes thereference path 100 to the position at the left side distance γ_(L) whenthe left side distance γ_(L) is larger than the distance from the leftend to the center of the running region. The display controller 28displays the display information including the reference path 100 on thedisplay unit 13.

The information processing device 20 in the first embodiment, thus, candetermine a safer running path. The information processing device 20 inthe first embodiment can determine a safer running path even when thedetermination target 101 (e.g., a pedestrian) serving as thedetermination target for determining whether the target enters therunning region of the moving body 10 does not perform a behaviorassociated with entering the running region.

Second Embodiment

The following describes a second embodiment. In the second embodiment,the description same as that in the first embodiment is omitted and adifference from the first embodiment is described.

In the first embodiment, the method is described for calculating thedistance γ for avoiding the determination target 101 such as apedestrian. In the second embodiment, when the formidable separatingzone 102 is present while the determination target 101 is not present, amethod is described for setting the distance γ so as to avoid theseparating zone 102. An assumed example of the formidable separatingzone 102 is a wall having a height equal to or larger than a threshold.In the second embodiment, formidableness is defined as the height of theseparating zone.

FIG. 30 is a table illustrating examples of the left side distance γ_(L)in the second embodiment. FIG. 30 illustrates a case where the left sidedistances γ_(L) are stored in a lookup table in which ranges of theheight of the separating zone 102 and the left side distances γ_(L) arein association with each other. A lookup table for the right sidedistances γ_(R) is prepared in the same manner as that illustrated inFIG. 30.

The method for determining the distance γ from the left side distanceγ_(L) and the right side distance γ_(R) is the same as that describedwith reference to FIG. 21. The description thereof is, thus, omitted.

The information processing device 20 in the second embodiment candetermine a safer running path when the formidable separating zone 102is present.

Third Embodiment

The following describes a third embodiment. In the third embodiment, thedescription same as that in the first embodiment is omitted and adifference from the first embodiment is described.

In the third embodiment, a method is described for changing the distanceγ* that indicates the initial position of the reference path 100 inaccordance with preference of the passenger on the moving body 10. Anexample of the preference of the passenger is that the passenger prefersdriving on the ride side, the center, or the left side of the runningregion. The preference of the passenger may change depending on asituation of obstacles around the moving body 10.

FIG. 31 is a detailed diagram illustrating exemplary structures of themoving body 10 and the information processing device 20 in the thirdembodiment. The information processing device 20 in the third embodimentincludes the memory 11 and the processor 20A. The processor 20Aimplements the acquisition unit 21, the right side distancedetermination unit 22, the left side distance determination unit 23, thechange unit 24, the selection unit 25, the generation unit 26, thecalculation unit 27, the display controller 28, an input controller 29,and a setting unit 30. In the third embodiment, as described above, theinput controller 29 and the setting unit 30 are added to the structureof the first embodiment.

The input controller 29 receives, from the input device 10C, input thatindicates an initial value of the reference path 100 received by theinput device 10C. The input may be performed in a quantitative manner(directly input a value of γ*) or in a qualitative manner (a change inposition of γ* is received by a left arrow button or a right arrowbutton on a graphical user interface (GUI)).

The setting unit 30 sets the received input value as the distance γ*indicating the initial value of the reference path 100.

The information processing device 20 in the third embodiment can obtainthe same effect as the first embodiment. In addition, the informationprocessing device 20 in the third embodiment can change the initialvalue of the reference path 100 in accordance with the preference of thepassenger on the moving body 10.

The functions of the information processing device 20 in the first, thesecond, and the third embodiments can be achieved by a computer program,for example.

The computer program executed by the information processing device 20 inthe first, the second, and the third embodiments is recorded in acomputer-readable recording medium such as a compact disc read onlymemory (CD-ROM), a memory card, a compact disc recordable (CD-R), and adigital versatile disc (DVD), as an installable or executable file.

The computer program executed by the information processing device 20 inthe first, the second, and the third embodiments may be stored in acomputer connected to a network such as the Internet and provided bybeing downloaded via the network. The computer program executed by theinformation processing device 20 in the first, the second, and the thirdembodiments may be provided via a network such as the Internet withoutbeing downloaded.

The computer program executed by the information processing device 20 inthe first, the second, and the third embodiments may be embedded andprovided in a ROM, for example.

The computer program executed by the information processing device 20 inthe first, the second, and the third embodiments has a module structureincluding functions achievable by the computer program in the functionalstructure of the information processing device 20 in the first, thesecond, and the third embodiments.

A part or the whole of the functions of the information processingdevice 20 in the first, the second, and the third embodiments may beachieved by hardware such as an integrated circuit (IC).

While certain embodiments have been described, these embodiments havebeen presented by way of example only, and are not intended to limit thescope of the inventions. Indeed, the novel embodiments described hereinmay be embodied in a variety of other forms; furthermore, variousomissions, substitutions and changes in the form of the embodimentsdescribed herein may be made without departing from the spirit of theinventions. The accompanying claims and their equivalents are intendedto cover such forms or modifications as would fall within the scope andspirit of the inventions.

What is claimed is:
 1. An information processing device, comprising: amemory; and one or more hardware processors electrically coupled to thememory and configured to function as: a change unit configured to changea reference path to a position at a lateral distance when the lateraldistance obtained from lateral environmental information indicating alateral environment of the reference path referred to as a scheduledrunning path of a moving body is larger than a distance from a lateralend to a center of a running region of the moving body; and a displaycontroller configured to display display information including thereference path on a display unit.
 2. An information processing device,comprising: a determination unit configured to determine a lateraldistance indicating a distance from a lateral end of a running region ofa moving body from lateral environmental information indicating alateral environment of a reference path referred to as a scheduledrunning path of the moving body; a change unit configured to change thereference path to a position at the lateral distance when the lateraldistance is larger than a distance from the lateral end to a center ofthe running region; and a display controller configured to displaydisplay information including the reference path on a display unit. 3.The device according to claim 1, wherein, when the lateral environmentalinformation includes information indicating that a determination targetfor riskiness of entering the running region is present, the lateraldistance is obtained from a height of a separating zone that separatesthe running region identified by the lateral environmental informationfrom a sidewalk.
 4. The device according to claim 2, wherein, when thelateral environmental information includes information indicating that adetermination target for riskiness of entering the running region ispresent, the lateral distance is obtained from a height of a separatingzone that separates the running region identified by the lateralenvironmental information from a sidewalk.
 5. The device according toclaim 1, wherein, when the lateral environmental information includesinformation indicating that a determination target for riskiness ofentering the running region is present, the lateral distance is obtainedfrom a thickness of a separating zone that separates the running regionidentified by the lateral environmental information from a sidewalk. 6.The device according to claim 2, wherein, when the lateral environmentalinformation includes information indicating that a determination targetfor riskiness of entering the running region is present, the lateraldistance is obtained from a thickness of a separating zone thatseparates the running region identified by the lateral environmentalinformation from a sidewalk.
 7. The device according claim 1, wherein,when the lateral environmental information includes informationindicating that a determination target for riskiness of entering therunning region is present, the lateral distance is obtained from a speedof the moving body.
 8. The device according claim 2, wherein, when thelateral environmental information includes information indicating that adetermination target for riskiness of entering the running region ispresent, the lateral distance is obtained from a speed of the movingbody.
 9. The device according to claim 1, wherein, when the lateralenvironmental information includes information indicating that adetermination target for riskiness of entering the running region ispresent, the lateral distance is obtained based on whether an objectthat triggers the determination target to enter the running regionidentified by the lateral environmental information is present or inaccordance with a type of the object.
 10. The device according to claim2, wherein, when the lateral environmental information includesinformation indicating that a determination target for riskiness ofentering the running region is present, the lateral distance is obtainedbased on whether an object that triggers the determination target toenter the running region identified by the lateral environmentalinformation is present or in accordance with a type of the object. 11.The device according to claim 1, wherein, when the lateral environmentalinformation includes information indicating that a determination targetfor riskiness of entering the running region is present, the lateraldistance is obtained based on whether a sign that triggers thedetermination target to enter the running region identified by thelateral environmental information is present or in accordance with atype of the sign.
 12. The device according to claim 2, wherein, when thelateral environmental information includes information indicating that adetermination target for riskiness of entering the running region ispresent, the lateral distance is obtained based on whether a sign thattriggers the determination target to enter the running region identifiedby the lateral environmental information is present or in accordancewith a type of the sign.
 13. An information processing device,comprising: a memory; and one or more hardware processors electricallycoupled to the memory and configured to function as: a right sidedistance determination unit configured to determine a right sidedistance indicating a distance from a right end of a running region of amoving body from right side environmental information indicating anenvironment on a right side of a reference path referred to as ascheduled running path of the moving body; a left side distancedetermination unit configured to determine a left side distanceindicating a distance from a left end of the running region of themoving body from left side environmental information indicating anenvironment on a left side of the reference path; a change unitconfigured to change the reference path to a position at the right sidedistance when the right side distance is larger than a distance from theright end to a center of the running region, and change the referencepath to a position at the left side distance when the left side distanceis larger than a distance from the left end to the center of the runningregion; and a display controller configured to display displayinformation including the reference path on a display unit.
 14. Thedevice according to claim 13, wherein when the right side environmentalinformation includes information indicating that a determination targetfor riskiness of entering the running region is present, the right sidedistance determination unit identifies a height of a right sideseparating zone that separates the running region from a sidewalk fromthe right side environmental information, determines the riskiness to beincreased as the height of the right side separating zone is reduced,and determines the right side distance to be increased as the riskinessis increased, and, when the left side environmental information includesinformation indicating that the determination target for riskiness ispresent, the left side distance determination unit identifies a heightof a left side separating zone that separates the running region from asidewalk from the left side environmental information, determines theriskiness to be increased as the height of the left side separating zoneis reduced, and determines the left side distance to be increased as theriskiness is increased.
 15. The device according to claim 13, whereinwhen the right side environmental information includes informationindicating that a determination target for riskiness of entering therunning region is present, the right side distance determination unitidentifies a thickness of a right side separating zone that separatesthe running region from a sidewalk from the right side environmentalinformation, determines the riskiness to be increased as the thicknessof the right side separating zone is reduced, and determines the rightside distance to be increased as the riskiness is increased, and whenthe left side environmental information includes information indicatingthat the determination target for riskiness is present, the left sidedistance determination unit identifies a thickness of a left sideseparating zone that separates the running region from a sidewalk fromthe left side environmental information, determines the riskiness to beincreased as the thickness of the left side separating zone is reduced,and determines the left side distance to be increased as the riskinessis increased.
 16. The device according to claim 13, wherein when theright side environmental information includes information indicatingthat a determination target for riskiness of entering the running regionis present, the right side distance determination unit determines theriskiness to be increased as a speed of the moving body is increased,and determines the right side distance to be increased as the riskinessis increased, and when the left side environmental information includesinformation indicating that the determination target for riskiness ispresent, the left side distance determination unit determines theriskiness to be increased as the speed of the moving body is increased,and determines the left side distance to be increased as the riskinessis increased.
 17. The device according to claim 13, wherein when theright side environmental information includes information indicatingthat a determination target for riskiness of entering the running regionis present, the right side distance determination unit identifieswhether an object triggering the determination target to enter therunning region is present from the right side environmental information,and determines the right side distance in accordance with a type of theobject, and when the left side environmental information includesinformation indicating that a determination target for riskiness ofentering the running region is present, the left side distancedetermination unit identifies whether the object is present from theleft side environmental information, and determines the left sidedistance in accordance with a type of the object.
 18. The deviceaccording to claim 13, wherein when the right side environmentalinformation includes information indicating that a determination targetfor riskiness of entering the running region is present, the right sidedistance determination unit identifies whether a sign triggering thedetermination target to enter the running region is present from theright side environmental information, and determines the right sidedistance in accordance with a type of the sign, and when the left sideenvironmental information includes information indicating that adetermination target for the riskiness of entering the running region ispresent, the left side distance determination unit identifies whetherthe sign is present from the left side environmental information, anddetermines the left side distance in accordance with a type of the sign.19. The device according to claim 13, wherein the change unit changesthe reference path to an intermediate position between a position at theright side distance and a position at the left side distance when theright side distance is larger than a distance from the right end to thecenter of the running region and the left side distance is larger than adistance from the left end to the center of the running region.
 20. Thedevice according to claim 19, the processors are further configured tofunction as a calculation unit configured to calculate decelerationdecelerating a speed of the moving body to be larger as a length ofoverlapping between the right side distance and the left side distanceis increased when the reference path is changed to the intermediateposition between the position at the right side distance and theposition at the left side distance.
 21. The device according to claim13, the processors further configured to function as a selection unitconfigured to determine a value indicating a position of the referencepath changed by the change unit using a threshold to select thereference path after the change from a plurality of reference pathspreliminarily set.
 22. The device according to claim 21, wherein thethreshold is a hysteresis threshold.
 23. The device according to claim13, the processors are further configured to function as a setting unitconfigured to set an initial value of the reference path such that aposition at the initial value is further apart from a separating zoneseparating the running region from a sidewalk as a height of theseparating zone is increased.
 24. The device according to claim 13, theprocessors are further configured to function as: an input controllerconfigured to receive input of an initial value of the reference path;and a setting unit configured to set the received input initial value asthe initial value of the reference path.
 25. An information processingmethod, comprising: determining a right side distance indicating adistance from a right end of a running region of a moving body fromright side environmental information indicating an environment on aright side of a reference path referred to as a scheduled running pathof the moving body; determining a left side distance indicating adistance from a left end of the running region of the moving body fromleft side environmental information indicating an environment on a leftside of the reference path; changing the reference path to a position atthe right side distance when the right side distance is larger than adistance from the right end to a center of the running region, andchanging the reference path to a position at the left side distance whenthe left side distance is larger than a distance from the left end tothe center of the running region; and displaying display informationincluding the reference path on a display unit.
 26. A computer programproduct comprising a non-transitory computer-readable medium includingprogrammed instructions, the instructions causing a computer to execute:determining a right side distance indicating a distance from a right endof a running region of a moving body from right side environmentalinformation indicating an environment on a right side of a referencepath referred to as a scheduled running path of the moving body;determining a left side distance indicating a distance from a left endof the running region of the moving body from left side environmentalinformation indicating an environment on a left side of the referencepath; changing the reference path to a position at the right sidedistance when the right side distance is larger than a distance from theright end to a center of the running region, and changing the referencepath to a position at the left side distance when the left side distanceis larger than a distance from the left end to the center of the runningregion; and displaying display information including the reference pathon a display unit.